Path Planning

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Function

This Step uses the input vision points to plan the robot path and outputs the successfully planned robot path.

Please ensure that you have successfully established the communication between the robot and the software before using this Step.
When using the Standard Interface communication for communication, you will need to start the Mech-Vision project with command 101. The specific command parameters you should send are: 101, Mech-Vision project ID, expected number of vision points, robot pose type, robot pose.

Usage Scenario

This Step is usually used in projects where the Standard Interface or Adapter is used for communication, and only the robot motion path near the vision point needs to be planned. After you build a scene and input the vision points, this Step will output a collision-free robot motion path after point cloud collision detection and path planning.

The common predecessors and successor of this Step are as follows:

Predecessors: Steps related to pose adjustment and pose processing.
Successor: the Procedure Out Step (used to output the successfully planned robot path).

Input and Output

Input

Vision Points: Poses input to this port will be used for robot path planning.
Collision Point Cloud: Point clouds input to this port will be used for collision detection with the tool.
Pose Labels: Object labels corresponding to vision points will be input to this port.
Object Dimensions: Object dimensions corresponding to vision points will be input to this port.

The following three input ports will appear after the Update Scene Object Settings is enabled.

Scene Object Names: The names of the scene objects will be input through this port.
Scene Object Dimensions: The dimensions of the scene objects will be input through this port.
Scene Object Poses: The poses of the scene objects will be input through this port.

Output

Planned Path: Successfully planned robot path will be output via this port.
Filter Results: The list of the filtered vision points. True indicates that the corresponding vision point meet the requirement while False indicates that the vision point does not meet the requirement.

Parameter Description

Path Planning Settings

Workflow Configuration

Description: Open the path planning tool and select the workflow created with the path planning tool in the drop-down list.

Update Scene Object Settings

This feature is usually used in scenarios where the bin pose should be updated dynamically. To ensure its proper functioning, you should enable Update bin pose with vision under Global configuration in the path planning tool.

Once this option is switched on, Scene Object Names, Scene Object Dimensions, and Scene Object Poses input ports will be added to the Step.

Collision Point Cloud Settings

Input Cloud Type

Description: the point cloud type input to the path planning tool.

Value list: CloudXYZRGB (colored point cloud), CloudXYZ (point cloud), and CloudXYZNORMAL (point cloud with normals).

Input Point Cloud in Camera Frame

Description: If the input point cloud of this Step is in the camera reference frame, please select this option. Then the point cloud in the camera reference frame will be converted to the robot reference frame.